The paper introduces an open‑vocabulary 3D object detection pipeline that uses a promptable segmentation model (SAM3) to generate instance masks from six surround‑view cameras. These masks are converted into metric 3D boxes, achieving up to 0.413 mAP/0.555 NDS without any training when supervised box geometry is borrowed at inference. The approach also improves a supervised LiDAR‑only detector by 0.034 mAP through a camera‑witness rule, demonstrating that measurement precision, not 2D detection, limits performance.
arXiv:2606. 03568v1 Announce Type: cross Abstract: Post-processing is a critical stage in LiDAR-based 3D object detection, where dense and overlapping proposals must be filtered for compact and reliable perception.
arXiv:2404.09431v3 Announce Type: replace Abstract: Pseudo-LiDAR has become a promising paradigm for monocular 3D object detection by transforming monocular images into point cloud representations th...
arXiv:2606. 24353v1 Announce Type: cross Abstract: Bird's-eye view (BEV) perception fuses multi-camera images into a unified top-down representation for autonomous driving.
arXiv:2608. 07579v1 Announce Type: cross Abstract: The AI City Challenge 2026 Track 1 evaluates multi-camera 3D perception in large indoor warehouses under a synthetic-to-real (Sim2Real) setting; depth is available only for training and validation, so inference is RGB-only.
arXiv:2609.15228v1 Announce Type: new Abstract: Unsupervised registration of large-scale LiDAR point clouds remains challenging due to the geometric ambiguity inherent in outdoor scenes, which degrad...
arXiv:2609.17413v1 Announce Type: new Abstract: This paper investigates easy strategies to boost the performance of existing networks for lidar semantic scene completion (SSC) without requiring compl...
arXiv:2608. 19973v1 Announce Type: cross Abstract: Recently, open-vocabulary 3D object detection (3D-OVD) has gained increasing attention for its ability to detect unseen objects in 3D scenes.
Recent advancements in LiDAR-only 3D object detection have demonstrated improved detection accuracy over benchmark datasets. However, the adversarial robustness of these models remains untested.
SenseFuse introduces a label‑free fusion approach that balances 2D image and 3D shape encoders for open‑vocabulary 3D instance segmentation. By selecting a scene‑level fusion weight through an adaptive, sensitivity‑based mechanism, it improves mask labeling accuracy across multiple datasets, recovering up to 93% of the potential gain from an oracle weight. The method demonstrates that image and shape encoders have complementary failure patterns, leading to higher instance AP in most evaluated settings.
The paper proposes a three-way open-set detection framework for autonomous navigation, classifying each detection as a known object, unknown object, or background based on a pretrained detector’s outputs. It introduces domain generalization and adaptation methods, evaluates them across various detector families and benchmarks, and demonstrates that this approach improves safety and efficiency in simulated navigation missions compared to binary detection methods.
The paper presents a solution for the UCF UrbanTwin LUMPI Track in the Sim-to-Real LiDAR Challenge, where a detector trained solely on synthetic data must perform on real LiDAR frames. The approach tackles the Sim2Real gap through data alignment, diversified sampling, augmentation, and specialized detectors, followed by class-aware fusion and calibration techniques. The final submission achieved a Combined Score of 0.4692, a Detection Score of 0.1797, a Realism Score of 0.9035, and a 3D mAP@0.5 of 0.1258.
arXiv:2608. 07577v1 Announce Type: cross Abstract: A closed-set detector for autonomous driving must assign every object one of a fixed set of labels.